class Robot (AbstractHumanoidRobot):
"""
This class instanciates Aldebaran Romeo robot
"""
halfSitting = (
0, 0, 0.840252, 0, 0, 0, # Free flyer
0, 0, -0.3490658, 0.6981317, -0.3490658, 0, 0, # Left leg
0, 0, -0.3490658, 0.6981317, -0.3490658, 0, 0, # Right leg
0, # Trunk
1.5, 0.6, -0.5, -1.05, -0.4, -0.3, -0.2, # Left arm
0, 0, 0, 0, # Head
0, 0 ,0 ,0, # Eyes
1.5, -0.6, 0.5, 1.05, -0.4, -0.3, -0.2, # Right arm
)
jointMap = { }
jointMap['BODY'] = 'body'
def __init__(self, name,
device = None,
tracer = None):
AbstractHumanoidRobot.__init__ (self, name, tracer)
self.urdfDir = 'package://romeo_description/urdf/'
self.urdfName = 'romeo_small.urdf'
self.OperationalPoints.append('waist')
self.OperationalPoints.append('chest')
self.device = device
# correct the name of the body link
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
for i in self.jointMap:
self.dynamic.addJointMapping(i, self.jointMap[i])
self.dynamic.loadUrdf(self.urdfDir + self.urdfName)
# complete feet position (TODO: move it into srdf file)
ankle =self.dynamic.getAnklePositionInFootFrame()
self.ankleLength = 0.1935
self.ankleWidth = 0.121
self.dynamic.setFootParameters(True , self.ankleLength, self.ankleWidth, ankle)
self.dynamic.setFootParameters(False, self.ankleLength, self.ankleWidth, ankle)
# check half sitting size
self.dimension = self.dynamic.getDimension()
if self.dimension != len(self.halfSitting):
raise RuntimeError("invalid half-sitting pose")
self.initializeRobot()
class Robot(AbstractHumanoidRobot):
"""
This class instanciates Aldebaran Romeo robot
"""
halfSitting = (
0,
0,
0.840252,
0,
0,
0, # Free flyer
0,
0,
-0.3490658,
0.6981317,
-0.3490658,
0,
0, # Left leg
0,
0,
-0.3490658,
0.6981317,
-0.3490658,
0,
0, # Right leg
0, # Trunk
1.5,
0.6,
-0.5,
-1.05,
-0.4,
-0.3,
-0.2, # Left arm
0,
0,
0,
0, # Head
0,
0,
0,
0, # Eyes
1.5,
-0.6,
0.5,
1.05,
-0.4,
-0.3,
-0.2, # Right arm
)
jointMap = {}
jointMap['BODY'] = 'body'
def __init__(self, name, device=None, tracer=None):
AbstractHumanoidRobot.__init__(self, name, tracer)
self.urdfDir = 'package://romeo_description/urdf/'
self.urdfName = 'romeo_small.urdf'
self.OperationalPoints.append('waist')
self.OperationalPoints.append('chest')
self.device = device
# correct the name of the body link
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
for i in self.jointMap:
self.dynamic.addJointMapping(i, self.jointMap[i])
self.dynamic.loadUrdf(self.urdfDir + self.urdfName)
# complete feet position (TODO: move it into srdf file)
ankle = self.dynamic.getAnklePositionInFootFrame()
self.ankleLength = 0.1935
self.ankleWidth = 0.121
self.dynamic.setFootParameters(True, self.ankleLength, self.ankleWidth,
ankle)
self.dynamic.setFootParameters(False, self.ankleLength,
self.ankleWidth, ankle)
# check half sitting size
self.dimension = self.dynamic.getDimension()
if self.dimension != len(self.halfSitting):
raise RuntimeError("invalid half-sitting pose")
self.initializeRobot()
class Robot (AbstractHumanoidRobot):
"""
This class instanciates Aldebaran Romeo robot
"""
# half sitting position for the given romeo_small urdf model
# coordinates should be given in depth
# moreover, we do not consider fixed joint
halfSittingSmall = (
# Free flyer
0, 0, 0.840252, 0, 0, 0,
# ImuTorsoAccelerometer_joint
#0.0,
# ImuTorsoGyrometer_joint
#0.0,
# LHipYaw, LHipRoll, LHipPtch, LKneePitch, LAnklePitch, L_AnkleRoll
0.0, 0.0, -0.3490658, 0.6981317, -0.3490658, 0.0,
# LFsrCenterJoint, LFsrFL_joint, LFsrFR_joint, LFsrRCenter_joint,
#0.0, 0.0, 0.0, 0.0,
# l_sole_joint
#0.0,
# RHipYaw, RHipRoll, RHipPtch, RKneePitch, RAnklePitch, R_AnkleRoll
0.0, 0.0, -0.3490658, 0.6981317, -0.3490658, 0.0,
# RFsrCenterJoint, RFsrFL_joint, RFsrFR_joint, RFsrRCenter_joint,
#0.0, 0.0, 0.0, 0.0,
# r_sole_joint
#0.0,
# TrunkYaw
0.0,
# LShoulderPitch, LShoulderYaw, LElbowRoll, LElbowYaw,
1.5, 0.6, -0.5, -1.05,
# LWristRoll, LWristYaw, LWristPitch,
-0.4, -0.3, -0.2,
# LFinger21, LFinger22, LFinger23
#0.0, 0.0, 0.0,
# LFinger31, LFinger32, LFinger33,
#0.0, 0.0, 0.0,
# LHand,
#0.0,
# LFinger12, LFinger13
#0.0, 0.0,
# LThumb1, LThumb2, LThumb3
#0.0, 0.0, 0.0,
# l_gripper_joint
#0.0,
# NeckYaw, NeckPitch,
0.0, 0.0,
# HeadPitch, HeadRoll
0.0, 0.0,
# CameraDepth_joint,
#0.0,
# CameraLeftEye_joint, CameraLeft_joint,
#0.0, 0.0,
# CameraRightEye_joint, CameraRight_joint,
#0.0, 0.0,
# HeadTouchFront_joint, HeadTouchMiddle_joint
#0.0, 0.0,
# ImuHeadAccelerometer_joint, ImuHeadGyrometer_joint
#0.0, 0.0,
# gaze_joint
#0.0,
# RShoulderPitch, RShoulderYaw, RElbowRoll, RElbowYaw,
1.5, -0.6, 0.5, 1.05,
# RWristRoll, RWristYaw, RWristPitch,
-0.4, -0.3, -0.2,
# RFinger21, RFinger22, RFinger23
#0.0, 0.0, 0.0,
# RFinger31, RFinger32, RFinger33,
#0.0, 0.0, 0.0,
# RHand,
#0.0,
# RFinger12, RFinger13
# 0.0, 0.0,
# RThumb1, RThumb2, RThumb3
#0.0, 0.0, 0.0,
# r_gripper_joint
#0.0,
)
# half sitting position for the romeo urdf model
# coordinates should be given in depth
# moreover, we do not consider fixed joint
halfSittingAll = (
# Free flyer
0, 0, 0.840252, 0, 0, 0,
# ImuTorsoAccelerometer_joint
#0.0,
# ImuTorsoGyrometer_joint
#0.0,
# LHipYaw, LHipRoll, LHipPtch, LKneePitch, LAnklePitch, L_AnkleRoll
0.0, 0.0, -0.3490658, 0.6981317, -0.3490658, 0.0,
# LFsrCenterJoint, LFsrFL_joint, LFsrFR_joint, LFsrRCenter_joint,
#0.0, 0.0, 0.0, 0.0,
# l_sole_joint
#0.0,
# RHipYaw, RHipRoll, RHipPtch, RKneePitch, RAnklePitch, R_AnkleRoll
0.0, 0.0, -0.3490658, 0.6981317, -0.3490658, 0.0,
# RFsrCenterJoint, RFsrFL_joint, RFsrFR_joint, RFsrRCenter_joint,
#0.0, 0.0, 0.0, 0.0,
# r_sole_joint
#0.0,
# TrunkYaw
0.0,
# LShoulderPitch, LShoulderYaw, LElbowRoll, LElbowYaw,
1.5, 0.6, -0.5, -1.05,
# LWristRoll, LWristYaw, LWristPitch,
-0.4, -0.3, -0.2,
# LFinger21, LFinger22, LFinger23
0.0, 0.0, 0.0,
# LFinger31, LFinger32, LFinger33,
0.0, 0.0, 0.0,
# LHand, LFinger12, LFinger13
0.0, 0.0, 0.0,
# LThumb1, LThumb2, LThumb3
0.0, 0.0, 0.0,
# l_gripper_joint
#0.0,
# NeckYaw, NeckPitch,
0.0, 0.0,
# HeadPitch, HeadRoll
0.0, 0.0,
# CameraDepth_joint,
#0.0,
# CameraLeftEye_joint, CameraLeft_joint,
#0.0, 0.0,
# CameraRightEye_joint, CameraRight_joint,
#0.0, 0.0,
# HeadTouchFront_joint, HeadTouchMiddle_joint
#0.0, 0.0,
# ImuHeadAccelerometer_joint, ImuHeadGyrometer_joint
#0.0, 0.0,
# gaze_joint
#0.0,
# RShoulderPitch, RShoulderYaw, RElbowRoll, RElbowYaw,
1.5, -0.6, 0.5, 1.05,
# RWristRoll, RWristYaw, RWristPitch,
-0.4, -0.3, -0.2,
# RFinger21, RFinger22, RFinger23
0.0, 0.0, 0.0,
# RFinger31, RFinger32, RFinger33,
0.0, 0.0, 0.0,
# RHead, RFinger12, RFinger13
0.0, 0.0, 0.0,
# RThumb1, RThumb2, RThumb3
0.0, 0.0, 0.0,
# r_gripper_joint
#0.0,
)
jointMap = { }
jointMap['BODY'] = 'body'
def __init__(self, name,
device = None,
tracer = None):
AbstractHumanoidRobot.__init__ (self, name, tracer)
print "You ask for "
print name
print ". "
if name == 'romeo_small':
print "Loaded model is romeo_small.urdf."
self.urdfDir = 'package://romeo_description/urdf/'
self.urdfName = 'romeo_small.urdf'
self.halfSitting = self.halfSittingSmall
else:
print "Loaded model is romeo.urdf."
self.urdfDir = 'package://romeo_description/urdf/'
self.urdfName = 'romeo.urdf'
self.halfSitting = self.halfSittingAll
self.OperationalPoints.append('waist')
self.OperationalPoints.append('chest')
self.device = device
# correct the name of the body link
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
for i in self.jointMap:
self.dynamic.addJointMapping(i, self.jointMap[i])
self.dynamic.loadUrdf(self.urdfDir + self.urdfName)
# complete feet position (TODO: move it into srdf file)
ankle =self.dynamic.getAnklePositionInFootFrame()
self.ankleLength = 0.1935
self.ankleWidth = 0.121
self.dynamic.setFootParameters(True , self.ankleLength, self.ankleWidth, ankle)
self.dynamic.setFootParameters(False, self.ankleLength, self.ankleWidth, ankle)
# check half sitting size
self.dimension = self.dynamic.getDimension()
if self.dimension != len(self.halfSitting):
raise RuntimeError("invalid half-sitting pose")
self.initializeRobot()
